Abstract
This paper describes the implementation of the PID Controller to control the position of the AR.Drone in the x-y-z. This position control scheme uses three PID controllers to maintain the position of x, y and z using the signal control pitch, roll and vertical rate. PID Controller implemented on AR.Drone 2.0 and then tested in an indoor space. The performance of the controller will be compared with Fuzzy Logic Controller schemes that have been implemented previously. The results show that the PID Controller generate a response with rise time less than 3 seconds at the x and y position with around 25% overshoot. The result for z position give better result without overshoot. The comparison between fuzzy logic and PID Controller indicates that the results of the PID controller is better although there is overshoot.
Highlights
The AR.Drone is widely used by researchers for its research platform
This paper reports the development of the PID controller scheme to control the position of the AR.Drone in the x-y-z
X switch OFF hover in front panel, AR.Drone will fly autonomous with PID Controller designed to the setpoint
Summary
AR.Drone was chosen because it is relatively inexpensive but has onboard controller and internal software. User can access controller via Wi-Fi communication. The onboard controller consists of motherboard and navigation board. Navigation data can be accessed from the AR.Drone includes the actual pitch, forward speed, actual roll, sideward speed, actual yaw, vertical speed, altitude, and time stamp. Using this data we can estimate the x,y,z position of the drone.
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